Crocoddyl
 
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poly-zero.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2021-2025, University of Edinburgh, University of Trento,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_
11#define CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_
12
13#include "crocoddyl/core/control-base.hpp"
14#include "crocoddyl/core/fwd.hpp"
15
16namespace crocoddyl {
17
35template <typename _Scalar>
38 public:
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40 CROCODDYL_DERIVED_CAST(ControlParametrizationModelBase,
42
43 typedef _Scalar Scalar;
49 typedef typename MathBase::VectorXs VectorXs;
50 typedef typename MathBase::MatrixXs MatrixXs;
51
57 explicit ControlParametrizationModelPolyZeroTpl(const std::size_t nw);
59
67 virtual void calc(
68 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
69 const Scalar t, const Eigen::Ref<const VectorXs>& u) const override;
70
81 virtual void calcDiff(
82 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
83 const Scalar t, const Eigen::Ref<const VectorXs>& u) const override;
84
90 virtual std::shared_ptr<ControlParametrizationDataAbstract> createData()
91 override;
92
101 virtual void params(
102 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
103 const Scalar t, const Eigen::Ref<const VectorXs>& w) const override;
104
114 virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb,
115 const Eigen::Ref<const VectorXs>& w_ub,
116 Eigen::Ref<VectorXs> u_lb,
117 Eigen::Ref<VectorXs> u_ub) const override;
118
132 virtual void multiplyByJacobian(
133 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
134 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
135 const AssignmentOp = setto) const override;
136
151 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
152 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
153 const AssignmentOp = setto) const override;
154
155 template <typename NewScalar>
157
158 virtual void print(std::ostream& os) const override;
159
160 protected:
161 using Base::nu_;
162 using Base::nw_;
163};
164
165} // namespace crocoddyl
166
167/* --- Details -------------------------------------------------------------- */
168/* --- Details -------------------------------------------------------------- */
169/* --- Details -------------------------------------------------------------- */
170#include "crocoddyl/core/controls/poly-zero.hxx"
171
172CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
174
175#endif // CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_
Abstract class for the control trajectory parametrization.
std::size_t nu_
Control parameters dimension.
A polynomial function of time of degree zero, that is a constant.
Definition poly-zero.hpp:37
virtual void calcDiff(const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const override
Get the value of the Jacobian of the control with respect to the parameters.
virtual void multiplyByJacobian(const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp=setto) const override
Compute the product between a specified matrix and the Jacobian of the control (with respect to the p...
ControlParametrizationModelPolyZeroTpl(const std::size_t nw)
Initialize the poly-zero control parametrization.
virtual void calc(const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const override
Get the value of the control at the specified time.
virtual std::shared_ptr< ControlParametrizationDataAbstract > createData() override
Create the control-parametrization data.
virtual void multiplyJacobianTransposeBy(const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp=setto) const override
Compute the product between the transposed Jacobian of the control (with respect to the parameters) a...
virtual void params(const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &w) const override
Get a value of the control parameters such that the control at the specified time t is equal to the s...
virtual void convertBounds(const Eigen::Ref< const VectorXs > &w_lb, const Eigen::Ref< const VectorXs > &w_ub, Eigen::Ref< VectorXs > u_lb, Eigen::Ref< VectorXs > u_ub) const override
Map the specified bounds from the control space to the parameter space.
virtual void print(std::ostream &os) const override
Print relevant information of the control model.